INDOOR-LiDAR: Bridging Simulation and Reality for Robot-Centric 360 degree Indoor LiDAR Perception -- A Robot-Centric Hybrid Dataset

Abstract

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and human-induced variability during data collection. INDOOR-LIDAR addresses these limitations by integrating simulated environments with real-world scans acquired using autonomous ground robots, providing consistent coverage and realistic sensor behavior under controlled variations. Each sample consists of dense point cloud data enriched with intensity measurements and KITTI-style annotations. The annotation schema encompasses common indoor object categories within various scenes. The simulated subset enables flexible configuration of layouts, point densities, and occlusions, while the real-world subset captures authentic sensor noise, clutter, and domain-specific artifacts characteristic of real indoor settings. INDOOR-LIDAR supports a wide range of applications including 3D object detection, bird's-eye-view (BEV) perception, SLAM, semantic scene understanding, and domain adaptation between simulated and real indoor domains. By bridging the gap between synthetic and real-world data, INDOOR-LIDAR establishes a scalable, realistic, and reproducible benchmark for advancing robotic perception in complex indoor environments.